CN113977575A

CN113977575A - Mechanical arm operation and whole body coordination and stability control method

Info

Publication number: CN113977575A
Application number: CN202111146294.5A
Authority: CN
Inventors: 杨海峰; 刘振宇; 高连国; 孙俊达; 高峰; 李鹏飞
Original assignee: Beijing Yanling Banbu Robot Technology Co ltd; Beijing Yanling Jiaye Electromechanical Equipment Co ltd
Current assignee: Beijing Yanling Banbu Robot Technology Co ltd; Beijing Yanling Jiaye Electromechanical Equipment Co ltd
Priority date: 2021-09-28
Filing date: 2021-09-28
Publication date: 2022-01-28

Abstract

The invention discloses a coordinated and stable control method for operation of a mechanical arm and a whole body, which comprises the steps of obtaining position information of a heavy object and lifting target position information of the heavy object; planning a motion path of a heavy object; acquiring the weight of a heavy object and the real-time moment of the mechanical arm in real time according to the sensing information of each joint of the mechanical arm; fusing the end load of the mechanical arm to the mass center of the robot for mapping; and controlling the whole body coordination stability of the robot according to the mapped centroid. The invention has the advantages of strong stability and convenient use.

Description

Mechanical arm operation and whole body coordination and stability control method

Technical Field

The invention relates to the field of robots, in particular to a coordinated and stable control method for operation of a mechanical arm and a whole body.

Background

The robot is known as the pearl on the top of the manufacturing crown, the development of the robot industry has very important significance for improving innovation capability, enhancing national comprehensive strength and driving overall economic development, and the robot technical innovation and the industrial development are important contents.

As the most important development of the intelligent mobile service robot in the future, the quadruped robot with smart maneuvering and autonomous operation is becoming the landmark research hotspot of the next generation intelligent mobile robot, and all countries around the world are developing without losing the strength. The quadruped robot is a typical representative of a bionic robot, has remarkable advantages in complex terrain adaptability compared with a traditional wheel-track type mobile platform, and can be widely applied to multiple fields of security accompanying and attending, inspection and detection, express logistics and the like.

When the quadruped robot is matched with the mechanical arm for use, the heavy object needs to be grabbed through the mechanical arm, the gravity center of the robot can be deviated due to the heavy object, and therefore the quadruped robot is overturned, and safety is difficult to guarantee.

Disclosure of Invention

In order to solve the problems in the background art, the invention provides a coordinated and stable control method for the operation of a mechanical arm and the whole body.

A coordinated and stable control method for operation of a mechanical arm and a whole body is used for acquiring position information of a heavy object and lifting target position information of the heavy object; planning a motion path of a heavy object; acquiring the weight of a heavy object and the real-time moment of the mechanical arm in real time according to the sensing information of each joint of the mechanical arm; fusing the end load of the mechanical arm to the mass center of the robot for mapping; and controlling the whole body coordination stability of the robot according to the mapped centroid.

Based on the above, the binocular camera is used for acquiring the environment information and the position information of the heavy object in the environment, and calibrating the lifting target position information of the heavy object in the environment information.

Based on the above, the movement path of the heavy object is planned according to the multi-degree-of-freedom movement relation of each joint of the mechanical arm, the position information of the heavy object and the position information of the lifting target.

Based on the above, the position of the center of gravity of the robot and the posture of the trunk are adjusted according to the movement path and the weight of the heavy object at each position of the movement path.

Based on the above, the robot posture balance control strategy is fused, and the whole body coordination stability of the robot is controlled by the optimization method of multi-support point force distribution.

Based on the above, the pose balance control strategy is a gravity center adjustment strategy and/or an optimal pose strategy.

Compared with the prior art, the robot has outstanding substantive characteristics and remarkable progress, and particularly, the robot dynamic balance control method realizes the whole-body coordination and stable control of the robot by establishing the mapping of the robot dynamic center through the mapping relation between the tail end of the mechanical arm and the mass center of the robot body, integrating the robot attitude balance controller and realizing the optimization method of the force distribution of a plurality of support points.

Drawings

FIG. 1 is a schematic flow diagram of the present invention.

Detailed Description

The technical solutions of the present invention will be clearly and completely described below in connection with specific embodiments, but it should be understood by those skilled in the art that the embodiments described below are only for illustrating the present invention and should not be construed as limiting the scope of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is to be understood that the following examples are given for illustrative purposes only and are not intended to limit the scope of the present invention. Various modifications and substitutions may be made by those skilled in the art without departing from the spirit and scope of the invention, and all such modifications and substitutions are intended to be within the scope of the claims.

The experimental procedures used in the following examples are all conventional procedures unless otherwise specified. Materials, reagents and the like used in the following examples are commercially available unless otherwise specified.

As shown in fig. 1, the system is equipped with a robot arm subsystem, and a multi-joint robot arm is selected, thereby achieving accessibility in all directions and autonomous working capability of the robot other than moving and walking. The tail end of the mechanical arm is provided with a server, so that the operations of grabbing, motor, rotating and the like are realized, and the active operation under the complex environment is realized.

The task load of the anthropomorphic mechanical arm can assist or replace personnel to complete operation tasks in complex environments, so that the self-stabilization accurate operation technology of the quadruped robot based on a smart mechanical arm is broken through, the autonomous operation capability of the robot is greatly improved, the task load of the personnel is effectively reduced, an anthropomorphic single-arm design scheme is determined based on an operation object and in combination with the requirements of the size/interface and the like of the quadruped robot, the operation space of the anthropomorphic mechanical arm is designed and analyzed, a functional structure integration and lightweight structure design method is adopted, a multi-degree-of-freedom anthropomorphic mechanical arm is designed, a mechanical arm operation planning and compliance control strategy is established, path planning and autonomous obstacle avoidance under autonomous and remote control operation are completed, a mechanical arm tail end compliance force model is established in combination with the operation load and the motion path, and a cooperative task planning model of the mechanical arm and the quadruped robot is established, and a quadruped robot stability control model for dealing with operation disturbance of the mechanical arm. In reality, environment information and weight position information in the environment are obtained through a binocular camera, an identified environment model is established, and the lifting target position information of the weight is calibrated in the environment information.

Based on a robot pose controller, a mechanical arm controller fuses arm tail end loads to map to a robot mass center, when a manipulator grabs a heavy object, the weight of the heavy object and the real-time moment of the mechanical arm are obtained in real time according to the lifting target position and the current position of the heavy object, the sensing information of each joint of the mechanical arm and the multi-degree-of-freedom motion relation, the real-time moments of the heavy object and the mechanical arm are obtained, and a load force model of the mechanical arm tail end is established by adopting an impedance control method.

The robot mass center force mapping is established through the mapping relation between the tail end of the mechanical arm and the mass center of the robot body, the robot posture balance controller is fused, and the whole body coordination and stable control of the robot is realized through the optimization method of force distribution of a plurality of support points. The pose adjustment strategy of the robot aims to adjust the gravity center position and the posture of the trunk of the robot according to actual conditions so as to improve the stability and flexibility of the robot and enable the robot to adapt to the current terrain environment quickly. The pose keeping strategy is to implement and maintain the pose balance of the robot, keep the adjusted pose balance in a force control mode, and repair pose deviation caused by external interference. The position and orientation adjusting strategy based on position control aims to improve the stability and flexibility of the hexapod robot and further improve the terrain adaptability of the hexapod robot. And the pose keeping strategy based on the force distribution and the virtual suspension model is used for maintaining and repairing the pose balance of the robot. In the embodiment, a gravity center adjustment strategy and/or an optimal pose strategy are adopted.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. A coordinated and stable control method for the operation of a mechanical arm and the whole body is characterized in that:

acquiring position information of a heavy object and lifting target position information of the heavy object;

planning a motion path of a heavy object;

acquiring the weight of a heavy object and the real-time moment of the mechanical arm in real time according to the sensing information of each joint of the mechanical arm;

fusing the end load of the mechanical arm to the mass center of the robot for mapping;

and controlling the whole body coordination stability of the robot according to the mapped centroid.

2. The method for coordinately and stably controlling the operation of a robot arm and the whole body according to claim 1, wherein: and acquiring environment information and weight position information in the environment through a binocular camera, and calibrating lifting target position information of the weight in the environment information.

3. The method for coordinately and stably controlling the operation of a robot arm and the whole body according to claim 1, wherein: and planning a heavy object motion path according to the multi-degree-of-freedom motion relation of each joint of the mechanical arm, the heavy object position information and the lifting target position information.

4. The method for coordinately and stably controlling the operation of a robot arm and the whole body according to claim 1, wherein: and adjusting the gravity center position and the posture of the trunk of the robot according to the motion path and the weight of the heavy object at each position of the motion path.

5. The method for coordinately and stably controlling the operation of a robot arm and the whole body according to claim 1, wherein: and a robot pose balance control strategy is fused, and the whole body coordination and stability of the robot is controlled by an optimization method of multi-support point force distribution.

6. The method for coordinately and stably controlling the operation of a robot arm and the whole body according to claim 5, wherein: the pose balance control strategy is a gravity center adjustment strategy and/or an optimal pose strategy.